Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain

被引：11

作者：

Hashimoto, Kenji ^{[1
]}

Sugahara, Yusuke

Kawase, Masamiki

Ohta, Akihiro

Tanaka, Chiaki

Hayashi, Akihiro

Endo, Nobutsuna

Sawato, Terumasa

Lim, Hun-ok

Takanishi, Atsuo

机构：

[1] Waseda Univ, Grad Sch Engn Sci, Tokyo, Japan

[2] Kanagawa Univ, Dept Engn Mech, Kanagawa, Japan

[3] Waseda Univ, Humanoid Robotic Inst, Tokyo, Japan

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

human-carrying robot; biped walking; uneven terrain; pattern modification; predictive attitude control;

D O I：

10.1109/IROS.2006.282213

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, NNIL-16RII (Waseda Leg - No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed.

引用

页码：1755 / 1760

页数：6

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